[math/{py-,}pinocchio] Update to v3.2.0

    ## [3.2.0] - 2024-08-27

    ### Fixed
    - Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
    - Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
    - Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
    - Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
    - Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
    - Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
    - Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
    - Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)

    ### Added
    - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
    - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
    - Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
    - Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
    - Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
    - Add more CasADi examples (stack-of-tasks/pinocchio#2388)

    ### Removed
    - Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)

    ### Changed
    - Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
    - GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
    - Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
    - Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
    - Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)

    ## [3.1.0] - 2024-07-04

    ### Fixed

    - Fix `appendModel` when joints after the base are in parallel (stack-of-tasks/pinocchio#2295)
    - Fix `appendModel` build when called with template arguments different than the ones from `context` (stack-of-tasks/pinocchio#2284)
    - Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build (stack-of-tasks/pinocchio#2284)
    - Fix compilation issue for Boost 1.85 (stack-of-tasks/pinocchio#2255)
    - Fix python bindings of `contactInverseDynamics` (stack-of-tasks/pinocchio#2263)
    - Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy (stack-of-tasks/pinocchio#2274)
    - Fix Python bindings cross building with `hpp-fcl` (stack-of-tasks/pinocchio#2288)
    - Fix build issue on Windows when a deprecated header is included (stack-of-tasks/pinocchio#2292)
    - Fix build issue on Windows when building in Debug mode (stack-of-tasks/pinocchio#2292)
    - Fix visualization of meshes in meshcat (stack-of-tasks/pinocchio#2294)
    - Fix Anymal simulation test (stack-of-tasks/pinocchio#2299)
    - Fix contact derivatives and impulse dynamics tests (stack-of-tasks/pinocchio#2300)
    - Fix CMake compatibility with old console_bridge version (stack-of-tasks/pinocchio#2312)

    ### Added

    - Python unittest for `contactInverseDynamics` function (stack-of-tasks/pinocchio#2263)
    - Added helper functions to return operation count of CasADi functions. (stack-of-tasks/pinocchio#2275)
    - C++ and Python unittest for `dIntegrateTransport` to check vector transport and its inverse (stack-of-tasks/pinocchio#2273)
    - Add kinetic and potential energy regressors (stack-of-tasks/pinocchio#2282)

    ### Removed

    - Remove header `list.hpp` include for bindings of model and rnea (stack-of-tasks/pinocchio#2263)

Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak

math/pinocchio/Makefile

@@ -4,8 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.0.0
-PKGREVISION=		1
+VERSION=		3.2.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics

math/pinocchio/PLIST

@@ -272,8 +272,6 @@ include/pinocchio/math/taylor-expansion.hpp
 include/pinocchio/math/tensor.hpp
 include/pinocchio/math/triangular-matrix.hpp
 include/pinocchio/math/tridiagonal-matrix.hpp
-include/pinocchio/multibody/constraint-base.hpp
-include/pinocchio/multibody/constraint-generic.hpp
 include/pinocchio/multibody/data.hpp
 include/pinocchio/multibody/data.hxx
 include/pinocchio/multibody/data.txx
@@ -348,6 +346,7 @@ include/pinocchio/multibody/visitor/fusion.hpp
 include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
 include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
 include/pinocchio/parsers/config.hpp
+include/pinocchio/parsers/meshloader-fwd.hpp
 include/pinocchio/parsers/mjcf.hpp
 include/pinocchio/parsers/mjcf/geometry.hxx
 include/pinocchio/parsers/mjcf/mjcf-graph.hpp
@@ -372,7 +371,6 @@ include/pinocchio/serialization/frame.hpp
 include/pinocchio/serialization/fwd.hpp
 include/pinocchio/serialization/geometry.hpp
 include/pinocchio/serialization/inertia.hpp
-include/pinocchio/serialization/joints-constraint.hpp
 include/pinocchio/serialization/joints-data.hpp
 include/pinocchio/serialization/joints-model.hpp
 include/pinocchio/serialization/joints-motion-subspace.hpp

math/pinocchio/distinfo

@@ -1,8 +1,4 @@
-SHA1 (pinocchio-3.0.0.tar.gz) = 72192a2ea9914c74413b6ef92f066ced802cd62f
-RMD160 (pinocchio-3.0.0.tar.gz) = 53ab1059dd86c34ae9a2a71af26ef24b2119d186
-Size (pinocchio-3.0.0.tar.gz) = 100744571 bytes
-SHA1 (patch-2264) = eb7cba2191020c3bb6026369fb236239e22e86db
-SHA1 (patch-2284) = b179e8b3ef082515af5b4ee48f3b9d9267e509a3
-SHA1 (patch-an) = 99018d12bd2a563b05685fc25fae0dad02303164
+SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
+RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
+Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
 SHA1 (patch-ao) = 82388cd763283a6d70581fdabcd1ae1035046ab8
-SHA1 (patch-ap) = e68ebc96a023535f8bde33eae5eb027638ec3a1c

math/py-pinocchio/Makefile

@@ -4,13 +4,13 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.0.0
-PKGREVISION=		1
+VERSION=		3.2.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics (python bindings)
 HOMEPAGE=		http://${ORG}.github.io/${NAME}/
 
+#CMAKE_ARGS+=		-DBUILD_WITH_CASADI_SUPPORT=ON
 CMAKE_ARGS+=		-DBUILD_WITH_COLLISION_SUPPORT=ON
 CMAKE_ARGS+=		-DBUILD_BENCHMARK=OFF
 CMAKE_ARGS+=		-DBUILD_TESTING=OFF
@@ -46,6 +46,7 @@ include ../../math/py-eigenpy/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../path/py-hpp-fcl/depend.mk
 include ../../mapping/octomap/depend.mk
+#include ../../optimization/py-casadi/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../mk/sysdep/boost-headers.mk
 include ../../mk/sysdep/boost-libs.mk

math/py-pinocchio/distinfo

@@ -1,10 +1,7 @@
-SHA1 (pinocchio-3.0.0.tar.gz) = 72192a2ea9914c74413b6ef92f066ced802cd62f
-RMD160 (pinocchio-3.0.0.tar.gz) = 53ab1059dd86c34ae9a2a71af26ef24b2119d186
-Size (pinocchio-3.0.0.tar.gz) = 100744571 bytes
-SHA1 (patch-2264) = eb7cba2191020c3bb6026369fb236239e22e86db
-SHA1 (patch-2284) = b179e8b3ef082515af5b4ee48f3b9d9267e509a3
-SHA1 (patch-af) = bf6c1d2fe04942c52d783be76b2a3d5386189953
-SHA1 (patch-ag) = 929490a70c419afe239844b87f556e3789060c63
+SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
+RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
+Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
+SHA1 (patch-ag) = 35b62ca6bd5676f51a5bef1d4a98c74113ca6a03
 SHA1 (patch-ah) = 365652d212fc8b2e82c7fee33818d08541491893
-SHA1 (patch-ak) = 59ebee7b94ff79fae81702a21be3763e9502b8ba
+SHA1 (patch-ak) = 73bff9b8278abb37c761375b4120b9f93edf9226
 SHA1 (patch-al) = 35d232f6e5f416848aa5f7444c882bb3ddddea04